CN102591306A - Dual-system assembly type industrial robot controller - Google Patents
Dual-system assembly type industrial robot controller Download PDFInfo
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- CN102591306A CN102591306A CN2012100596398A CN201210059639A CN102591306A CN 102591306 A CN102591306 A CN 102591306A CN 2012100596398 A CN2012100596398 A CN 2012100596398A CN 201210059639 A CN201210059639 A CN 201210059639A CN 102591306 A CN102591306 A CN 102591306A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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Abstract
The invention discloses a dual-system assembly type industrial robot controller which comprises a standard operating system, a real-time operating system, a route management module, a soft bus, a driving management module, a motion control module, a PLC (programmable logic controller) module, an IO (input and output) module, a sample box interface module and a protocol stack module. The dual-system assembly type industrial robot controller adopts an assembly type framework, assemblies operate under a non-real-time system and a real-time system, and the dual-system assembly type industrial robot controller supports distributed processing. The communication and the function utilization of the assemblies are realized by the route management module and the soft bus. The route management module is used as a pacificator of all the assemblies and the assemblies are managed by the route management module in communication. The drive management module is provided with an abstract and uniform interface according with DS402 standards for the communication of other modules, and a servo driver according with the interface standards is integrated to the controller through simple operation. The assemblies of the functional modules can be automatically developed by users, and can be added into the system according to the standards, and the connection of hardware is not limited by virtue of the open interface of the controller.
Description
Technical field
The present invention relates to a kind of industrial robot controller, is a kind of industrial robot controller of dual system assembly type specifically.
Background technology:
Robot controller according to the processing mode of robot control algorithm, can be divided into single CPU structure, centralized control in evolution; Secondary CPU structure, master slave control mode and many CPU distributed control mode etc.Preceding two kinds of structures appear at the early stage of technical development of computer; The employing microprocessor chip realizes that the CPU arithmetic capability is strong inadequately, and the third structure adopts the form of pc machine+dsp board card more; Realize host computer procedure and motion control program respectively, like PMAC card or Trio integrated circuit board.
There are some similar problems in these schemes, the general more complicated of structure, and programming is difficulty relatively; And system's arithmetic capability is relatively poor; Be difficult to realize controlling such complex calculation such as the robot dynamics, software and hardware are got in touch tightr, and distribution is too much; Relatively difficulty is debugged and keeped in repair in system, cause the reliability of system relatively poor.And when the node that needs control constantly increased, it is unusual complicated that control becomes.If realize the more interlock control of multiaxis, then need on total, do big adjustment, cause the increase of cost.
At present up-to-date open framework such as patent CN1424649A " controller of open structure for robot " etc.; Though the open controller that also on PC, utilized real-time system development; But these controllers all are the framework with level basically; The function that each level is realized is confirmed, when increasing new function, often need make amendment to the framework of system, and workload is very big.
Summary of the invention
Technical matters to be solved by this invention is to overcome the defective that prior art exists, and has proposed a kind of industrial robot controller of dual system assembly type.Adopt the structure of " assembly type ", utilize routing manager and flexible bus to realize the interconnected basis of assembly type, form open framework.
The industrial robot controller of dual system assembly type of the present invention comprises: standard operation system, real time operating system, routing management module, flexible bus, driven management module, motion-control module, PLC module (Programmable Logic Controller module), IO module, teach box interface module and protocol stack module; It is characterized in that:
Said standard operation system and real time operating system are the basic platforms of all component module operation; Teach box interface module, protocol stack module and IO module operate under the standard operation system, and PLC module, motion-control module, driven management module and routing management module operate under the real time operating system;
Flexible bus is a kind of self-defining Ethernet agreement, through the network address and the functional address of assembly module, comes assembly function initiation request and communication to correspondence; Routing management module and flexible bus in real time couple together other together with the module that non real-time moves;
Routing management module is used for Route Selection and access control arbitration are carried out in the visit between the difference in functionality module, and the public data resource in the system is safeguarded; Each functional module (that is: driven management module, motion-control module, PLC module, IO module, teach box interface module and protocol stack module) all has an interface that meets the flexible bus protocol rule; When needs between the module are mutual; Can be through this interface; Communicate information on the flexible bus, arrive routing management module at last; Routing management module is resolved these requests or answer, after judging through arbitration, the data field of correspondence is operated, and relevant module is indicated or replied;
Driven management module (bus management module) is managed fieldbus, and the lower floor of driven management module is the driver of various fieldbus integrated circuit boards or protocol stack; The driven management module is carried out abstract to the driver of various fieldbus integrated circuit boards or protocol stack, open up a region of memory in inside, is used for the data that these bus abstracts come out are shone upon; When other functional modules need be visited the equipment that fieldbus connects, the driven management module can provide an identical abstraction interface for this visit, and in inside this visit was delivered to correct driver and gets on;
Motion-control module carries out motion planning and control to robot; This functional module cycling service, each current information of each cycle read machine people, carry out computing according to corresponding algorithm after, with new given Data Update; These data are responsible for maintenance by routing management module, finally are delivered on the driven management module, and send on the corresponding hardware through driver;
IO module and motion-control module operate in same rank, and the IO information of main maintenance system provides the visit of existing IO signal in the common system to upper procedure; During upper procedure visit IO, be delivered on the routing management module through the IO module; Routing management module is given to the driven management module with this information, finally sends on the corresponding hardware through driver;
Teach box interface module, protocol stack module and PLC module are in same one-level, are the upper procedure of IO module and motion-control module; The PLC module operates under the real-time system, and teach box interface module, protocol stack module operate in the non real-time system.
The industrial robot controller of dual system assembly type of the present invention adopts modular structure, makes that controller is open framework, and the user is the development function modular assembly voluntarily, and adds in the system according to rule.And the hardware that the open interface of controller makes controller to connect is unrestricted.
Description of drawings
Fig. 1 is the industrial robot controller structural representation block diagram of dual system assembly type of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is explained further details.
As shown in Figure 1, the industrial robot controller of dual system assembly type comprises: standard operation system 1; Real time operating system 2, routing management module 3, flexible bus 4; Driven management module 5, motion-control module 6, PLC module 7; IO module 8, teach box interface module (comprising the teaching representational role) 9 and protocol stack module 10.
Wherein, standard operation system 1 is basic platforms of all component module operation with real time operating system 2.Teach box interface module 9, protocol stack module 10 and IO module 8 operate in standard operation system 1 time, and PLC module 7, motion-control module 6, driven management module 5 and routing management module 3 operate under the real time operating system.
Flexible bus 4 is a kind of self-defining Ethernet agreements, through the network address and the functional address of assembly module, comes assembly function initiation request and communication to correspondence.Routing management module 3 be in the system supvr and flexible bus 4 together, other are coupled together with the module that non real-time moves in real time.
Routing management module 3 is used for Route Selection and access control arbitration are carried out in the visit between the difference in functionality module, and the public data resource in the system is safeguarded.When concrete the realization, routing management module 3 is opened up a shared drive zone in Installed System Memory, be used to store data of overall importance.The global data of supply visiting of difference in functionality module is mapped to different correspondence memory sections, and these application heaps have promptly been represented the address space of each functional module.Data interaction between the difference in functionality module and funcall are finally summed up in the point that the visit to these global datas, and all need pass through routing management module 3 to the visit of these data and arbitrate and select.Each functional module all has an interface that meets flexible bus 4 protocol rules, when needs between the functional module are mutual, can pass through this interface, communicates information on the flexible bus 4, arrives routing management module 3 at last.Routing management module 3 is resolved these requests or answer, after judging through arbitration, the data field of correspondence is operated, and relevant functional module is indicated or replied.
The combination of flexible bus 4 and routing management module 3 makes assembly can be distributed in the distinct device in the network; When the assembly in the distinct device carries out communication; Whether by the routing management module determination component is local component or remote component; If be remote component, then be packaged into the Ethernet packet with transmitting the protocol data that comes on the flexible bus, be delivered on the target device through the network equipment.
5 pairs of fieldbus of driven management module are managed, and in each functional module, belong to comparatively bottom.The lower floor of driven management module 5 is the driver of various fieldbus integrated circuit boards or protocol stack, like CanOpen, EtherCAT and ProfiDrive etc.Driven management module 5 is carried out abstract to these drivers, open up a region of memory in inside, is used for the data that these bus abstracts come out are shone upon.When other functional modules such as IO module 8 or the motion-control module 6 needs visit equipment that fieldbus connected (like IO slave station or servomechanism); Driven management module 5 can provide an identical abstraction interface for this visit to different fieldbus, and in inside these visits is delivered to correct driver and gets on.
6 pairs of robots of motion-control module carry out motion planning and control.This functional module cycling service, each current information of each cycle read machine people, carry out computing according to corresponding algorithm after, with new given Data Update.These data are responsible for maintenance by routing management module 3, finally are delivered on the driven management module 5, and send on the corresponding hardware through driver.
IO module 8 operates in same rank with motion-control module 6, the IO information of main maintenance system.The upper strata is provided the visit of existing IO signal in the common system.During upper procedure visit IO, be delivered on the routing management module 3 through IO module 8.Routing management module 3 is given to driven management module 5 with this information, finally sends on the corresponding hardware through driver.
Teach box interface module 9, protocol stack 10 and PLC module 7 are in same one-level, and the upper procedure for IO module 8 and motion-control module 6 realizes the visit to these lower module functions.PLC module 7 operates under the real-time system, and teach box interface module 9, protocol stack module 10 operate in the non real-time system.
The design of this assembly type makes the function of controller be not limited thereto, and the user is the development function modular assembly voluntarily, and adds in the system according to rule.And the hardware that the open interface of controller makes controller to connect is unrestricted.
Claims (1)
1. the industrial robot controller of a dual system assembly type comprises: standard operation system, real time operating system, routing management module, flexible bus, driven management module, motion-control module, PLC module, IO module, teach box interface module and protocol stack module; It is characterized in that:
Said standard operation system and real time operating system are the basic platforms of all component module operation; Teach box interface module, protocol stack module and IO module operate under the standard operation system, and PLC module, motion-control module, driven management module and routing management module operate under the real time operating system;
Flexible bus is a kind of self-defining Ethernet agreement, through the network address and the functional address of assembly module, comes assembly function initiation request and communication to correspondence; Routing management module and flexible bus in real time couple together other together with the module that non real-time moves;
Routing management module is used for Route Selection and access control arbitration are carried out in the visit between the difference in functionality module, and the public data resource in the system is safeguarded; Each functional module (that is: driven management module, motion-control module, PLC module, IO module, teach box interface module and protocol stack module) all has an interface that meets the flexible bus protocol rule; When needs between the module are mutual; Can be through this interface; Communicate information on the flexible bus, arrive routing management module at last; Routing management module is resolved these requests or answer, after judging through arbitration, the data field of correspondence is operated, and relevant module is indicated or replied;
Driven management module (bus management module) is managed fieldbus, and the lower floor of driven management module is the driver of various fieldbus integrated circuit boards or protocol stack; The driven management module is carried out abstract to the driver of various fieldbus integrated circuit boards or protocol stack, open up a region of memory in inside, is used for the data that these bus abstracts come out are shone upon; When other functional modules need be visited the equipment that fieldbus connects, the driven management module can provide an identical abstraction interface for this visit, and in inside this visit was delivered to correct driver and gets on;
Motion-control module carries out motion planning and control to robot; This functional module cycling service, each current information of each cycle read machine people, carry out computing according to corresponding algorithm after, with new given Data Update; These data are responsible for maintenance by routing management module, finally are delivered on the driven management module, and send on the corresponding hardware through driver;
IO module and motion-control module operate in same rank, and the IO information of main maintenance system provides the visit of existing IO signal in the common system to upper procedure; During upper procedure visit IO, be delivered on the routing management module through the IO module; Routing management module is given to the driven management module with this information, finally sends on the corresponding hardware through driver;
Teach box interface module, protocol stack module and PLC module are in same one-level, are the upper procedure of IO module and motion-control module; The PLC module operates under the real-time system, and teach box interface module, protocol stack module operate in the non real-time system.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100596398A CN102591306B (en) | 2012-03-08 | 2012-03-08 | Dual-system assembly type industrial robot controller |
| PCT/CN2013/072139 WO2013131457A1 (en) | 2012-03-08 | 2013-03-04 | Dual-system assembly type industrial robot controller |
| US14/116,453 US9114529B2 (en) | 2012-03-08 | 2013-03-04 | Dual-system component-based industrial robot controller |
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| CN2012100596398A CN102591306B (en) | 2012-03-08 | 2012-03-08 | Dual-system assembly type industrial robot controller |
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| CN102591306A true CN102591306A (en) | 2012-07-18 |
| CN102591306B CN102591306B (en) | 2013-07-10 |
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| WO2013131457A1 (en) * | 2012-03-08 | 2013-09-12 | 南京埃斯顿机器人工程有限公司 | Dual-system assembly type industrial robot controller |
| CN108897248A (en) * | 2018-06-07 | 2018-11-27 | 浙江国自机器人技术有限公司 | A kind of self―tuning control and mobile robot |
| CN109153116A (en) * | 2016-03-07 | 2019-01-04 | 软银机器人欧洲公司 | The modular manufacturing of robot |
| CN109683478A (en) * | 2018-12-21 | 2019-04-26 | 南京埃斯顿机器人工程有限公司 | Flexible joint mechanical arm fractional order sliding formwork optimal control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102591306B (en) | 2013-07-10 |
| US20140074294A1 (en) | 2014-03-13 |
| WO2013131457A1 (en) | 2013-09-12 |
| US9114529B2 (en) | 2015-08-25 |
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